EP1961678B1 - Method for relocating cylinder shaped goods in an automated high bay store using a gripper with a suction head - Google Patents

Method for relocating cylinder shaped goods in an automated high bay store using a gripper with a suction head Download PDF

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Publication number
EP1961678B1
EP1961678B1 EP07102741A EP07102741A EP1961678B1 EP 1961678 B1 EP1961678 B1 EP 1961678B1 EP 07102741 A EP07102741 A EP 07102741A EP 07102741 A EP07102741 A EP 07102741A EP 1961678 B1 EP1961678 B1 EP 1961678B1
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EP
European Patent Office
Prior art keywords
suction
suction head
gripper
support table
head
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP07102741A
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German (de)
French (fr)
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EP1961678A1 (en
Inventor
Andreas Klapperich
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Becton Dickinson Rowa Germany GmbH
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Rowa Automatisierungssysteme GmbH
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Priority to EP07102741A priority Critical patent/EP1961678B1/en
Priority to ES07102741T priority patent/ES2332540T3/en
Priority to AT07102741T priority patent/ATE443679T1/en
Priority to DE502007001574T priority patent/DE502007001574D1/en
Publication of EP1961678A1 publication Critical patent/EP1961678A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area

Definitions

  • the invention relates to a method for relocating a cylindrical piece goods in an automated rack warehouse by means of a gripper having a suction head.
  • An automated storage warehouse for storage of drug packages on flat shelves is for example from the DE 195 09 951 C2 known.
  • the operating device has a suction gripper with a suction head and a support table with a pair of mutually adjustable gripping and guide jaws.
  • the operator panel To relocate a drug package from a first location on a shelf to a second location on the same or another shelf, the operator panel first moves to the first location where the drug package to be relocated is located.
  • the support table of the operating device is positioned in front of the shelf so that the surface of the support table is flush with the surface of the shelf or slightly lower.
  • the suction head of the suction pad is placed on the end face of the Schwarzenden pack.
  • the drug package is aspirated, and the suction pad is moved back so that the drug package is pulled from the shelf to the support table of the operating device.
  • the suction pad is pressed against the end face of the Schwarzbagernden drug package, the pack can be pushed away from the control unit on the shelf against a back stop, if not previously been determined due to a build-up negative pressure in that the drug package was firmly sucked.
  • the suction pad can pull it on the support table of the HMI device.
  • the in the from the patent specification and corresponding automated drug stores handled by the operating unit packs are basically cuboidal shape and have a substantially flat end face on which the suction pad can festsaugen.
  • This also not cuboid cargo which are, for example, round, polygonal or irregular shaped, can be handled by an operating device, proposes, for example, the utility model DE 299 04 557 U1 to assist the suction gripper by a jaw gripper which can be moved into the shelf, the inner surfaces of the jaw gripper being provided with an elastic coating (eg foam) in such a way that they deform against the side surfaces of the piece goods to be gripped when the gripper jaws move together adapt to the outer contour of the jaws clamped between the gripping jaws, so that a piece goods can be gripped safely even if the driven against an end face of the piece Sauggreifer contour can not suck.
  • a disadvantage of the proposed in the utility solution is that relatively stable gripping jaws with a relatively thick inner coating between juxtaposed cargo on the shelf must retract, so that increases to be observed between the lying on the shelf piece goods minimum distance.
  • the object of the invention is to expand the possible applications of the suction pad and to avoid increased minimum distances of the piece goods.
  • the support table is then moved in front of a second bearing surface and the cargo is pushed by means of the suction pad with festgesaugtem suction head of the support table on the second bearing surface. Only then the suction vacuum in the suction head is reduced and the suction head is withdrawn with the suction pad.
  • the suction vacuum in the suction head is reduced more rapidly by generating a blowing flow which is opposite to the suction flow.
  • This switching from suction flow to blowing flow takes place as soon as the cylindrical piece goods are located at the desired location on the second bearing surface.
  • an impeller pump is used to generate the suction pressure, the switching can be realized by reversing the drive motor.
  • the current switching can be made even with a uniformly operated pump by means of a valve control.
  • FIG. 1 shows a schematic plan view of a portion 1 of a shelf on which a cargo 2 with a cylindrical surface, for example, a drug-containing bottle is stored.
  • portions of the shelf 1 may be a plurality of cuboid drug packages or cylindrical bottles. Over and / or under the shelf may be more parallel shelves.
  • an operating device which is vertically and horizontally movable in front of the shelves and is controlled by a computer.
  • the computer controlling the operating device has information about the type and storage locations of the piece goods in the shelf storage.
  • FIG. 1 schematically shows parts of a positioned in front of the shelf 1 HMI device, namely a suction pad 3 with a suction head 4 and a part of a support table 5.
  • the suction pad 3 is horizontally movable transversely to the shelf 1, so that the suction head 4 to an end face 6 of the piece 2 can be introduced.
  • the suction pad 3 moves in the direction of the arrow 7 on the end face 6 of the piece 2 to.
  • a suction flow is generated in the suction gripper, for example, by turning on a pump or opening a valve of a supply line to a suction pump.
  • the support table of the operating device is positioned in front of the shelf 1, that the surface of the support table 5 is flush with the surface of the shelf 1 or slightly lower positioned.
  • a front edge 8 of the Supporting table 5 is positioned at the smallest possible distance in front of a front edge 9 of the shelf 1.
  • FIG. 2 shows a subsequent movement phase, in which the suction head 4 is already firmly sucked on the end face 6 of the piece goods 2 and deformed according to the surface contour of the end face 6.
  • the suction head 4 an elastically deformable ring, which is made for example of a resilient plastic material and surrounding the suction port.
  • the thickness of the elastically deformable ring depends on the expected curvatures of the lateral surfaces of the piece goods 2. The stronger the expected curvature, the thicker the elastically deformable ring should be formed.
  • the application of the suction flow before the impact of the suction head 4 on the end face 6 supports the molding of the elastic ring of the suction head 4 to the surface of the piece 2.
  • the forward movement according to the arrow 7 is interrupted as soon as an intake of the piece 2 due to a pressure drop in the Suction gripper 3 has been found. This avoids that the cargo 2 is pushed on the shelf 1 in the direction of the shelf back.
  • the cargo 2 is pulled by means of the suction pad 3 of the shelf 1 on the support table 5 of the HMI device. Then, the support table 5 is moved together with the operating device in front of a second storage area to which the cargo is to be relocated. During the transport of the piece goods 2 on the support table 5, the cargo can be additionally held by lateral gripping jaws, which also mounted on the support table 5 (but in the Figures 1 and 2 not shown).
  • the surface of the support table 5 is flush with the surface of the second bearing surface or slightly higher than this, the piece goods 2 (possibly after release of the side gripping jaws) by means of the suction pad 3 pushed at Sauggesaugtem suction head 4 of the support table 5 on the second bearing surface. Then, the suction pressure in the suction head 4 is reduced by an opposite to the suction flow Blasstrom is generated, and the suction head 4 is withdrawn with the suction pad 3.
  • the operating device can proceed to another piece goods and the entire transfer process can be repeated with this.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • De-Stacking Of Articles (AREA)
  • Specific Conveyance Elements (AREA)
  • Manipulator (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)

Abstract

Method for rearranging a cylindrical material (2) in an automated shelving storage unit using a suction gripper (3) with a suction head (4) comprises guiding the suction head on the curved casing surface (6) of the material, pulling the material onto a support table (5) of an operating device using the suction gripper, moving the table, pushing the material from the table, releasing the suction pressure in the suction head and pulling back the suction head. Preferred Features: The suction pressure is quickly released whilst a blowing stream is produced to oppose the suction stream.

Description

Die Erfindung betrifft ein Verfahren zum Umlagern eines zylinderförmigen Stückguts in einem automatisierten Regallager mittels eines einen Saugkopf aufweisenden Greifers.The invention relates to a method for relocating a cylindrical piece goods in an automated rack warehouse by means of a gripper having a suction head.

Ein automatisiertes Regallager zur Lagerung von Arzneimittelpackungen auf ebenen Regalböden ist beispielsweise aus der DE 195 09 951 C2 bekannt. Mit Hilfe eines vor den Regalen verfahrbaren Bediengeräts werden die Arzneimittelpackungen auf die Regalböden eingelagert und von den Regalböden wieder entnommen. Das Bediengerät weist einen Sauggreifer mit einem Saugkopf und einen Auflagetisch mit einem Paar gegeneinander verstellbarer Greif- und Führungsbacken auf. Um eine Arzneimittelpackung von einem ersten Ort auf einem Regalboden zu einem zweiten Ort auf demselben oder einem anderen Regalboden umzulagern, fährt das Bediengerät zunächst zu dem ersten Ort, an dem sich die umzulagernde Arzneimittelpackung befindet. Dabei wird der Auflagetisch des Bediengeräts derart vor dem Regalboden positioniert, dass die Oberfläche des Auflagetischs mit der Oberfläche des Regalbodens fluchtet oder geringfügig tiefer angeordnet ist. Dann wird der Saugkopf des Sauggreifers auf die Stirnfläche der auszulagernden Packung aufgesetzt. Die Arzneimittelpackung wird angesaugt, und der Sauggreifer wird zurückbewegt, so dass die Arzneimittelpackung von dem Regalboden auf den Auflagetisch des Bediengeräts gezogen wird. Bei bekannten automatisierten Regallagern der in der Patentschrift beschriebenen Art wird der Sauggreifer gegen die Stirnfläche der auszulagernden Arzneimittelpackung gedrückt, wobei die Packung vom Bediengerät weg auf den Regalboden gegen einen rückseitigen Anschlag geschoben werden kann, sofern nicht bereits zuvor aufgrund eines sich aufbauenden Unterdrucks festgestellt worden ist, dass die Arzneimittelpackung fest angesaugt wurde. Wenn die Arzneimittelpackung vollständig festgesaugt ist, kann der Sauggreifer sie auf den Auflagetisch des Bediengeräts ziehen.An automated storage warehouse for storage of drug packages on flat shelves is for example from the DE 195 09 951 C2 known. With the aid of a HMI device that can be moved in front of the shelves, the drug packages are stored on the shelves and removed from the shelves. The operating device has a suction gripper with a suction head and a support table with a pair of mutually adjustable gripping and guide jaws. To relocate a drug package from a first location on a shelf to a second location on the same or another shelf, the operator panel first moves to the first location where the drug package to be relocated is located. In this case, the support table of the operating device is positioned in front of the shelf so that the surface of the support table is flush with the surface of the shelf or slightly lower. Then the suction head of the suction pad is placed on the end face of the auszulagernden pack. The drug package is aspirated, and the suction pad is moved back so that the drug package is pulled from the shelf to the support table of the operating device. In known automated shelf storage of the type described in the patent, the suction pad is pressed against the end face of the auszubagernden drug package, the pack can be pushed away from the control unit on the shelf against a back stop, if not previously been determined due to a build-up negative pressure in that the drug package was firmly sucked. When the drug package is completely squeezed is, the suction pad can pull it on the support table of the HMI device.

Die bei den aus der Patentschrift und entsprechenden automatisierten Arzneimittellagern von dem Bediengerät gehandhabten Packungen sind grundsätzlich quaderförmiger Gestalt und weisen eine im wesentlichen ebene Stirnfläche auf, an welcher sich der Sauggreifer festsaugen kann.The in the from the patent specification and corresponding automated drug stores handled by the operating unit packs are basically cuboidal shape and have a substantially flat end face on which the suction pad can festsaugen.

Damit auch nicht quaderförmige Stückgüter, welche beispielsweise rund, vieleckig oder unregelmäßig geformt sind, von einem Bediengerät gehandhabt werden können, schlägt beispielsweise die Gebrauchsmusterschrift DE 299 04 557 U1 vor, den Sauggreifer durch einen in den Regalboden hineinfahrbaren Backengreifer zu unterstützen, wobei die Innenflächen des Backengreifers mit einer elastischen Beschichtung (z. B. Schaumstoff) derart versehen sind, dass sie sich beim Zusammenfahren der Greifbacken gegen die Seitenflächen des zu ergreifenden Stückguts deformieren und an die Außenkontur des zwischen den Greifbacken eingeklemmten Stückguts anpassen, so dass ein Stückgut selbst dann sicher ergriffen werden kann, wenn der gegen eine Stirnfläche des Stückguts gefahrene Sauggreifer konturbedingt nicht ansaugen kann. Nachteilig bei der in dem Gebrauchsmuster vorgeschlagenen Lösung ist es, dass relativ stabile Greifbacken mit einer relativ dicken Innenbeschichtung zwischen nebeneinander liegende Stückgüter auf dem Regalboden einfahren müssen, so dass sich der zwischen den auf dem Regalboden liegenden Stückgütern einzuhaltende Mindestabstand vergrößert.This also not cuboid cargo, which are, for example, round, polygonal or irregular shaped, can be handled by an operating device, proposes, for example, the utility model DE 299 04 557 U1 to assist the suction gripper by a jaw gripper which can be moved into the shelf, the inner surfaces of the jaw gripper being provided with an elastic coating (eg foam) in such a way that they deform against the side surfaces of the piece goods to be gripped when the gripper jaws move together adapt to the outer contour of the jaws clamped between the gripping jaws, so that a piece goods can be gripped safely even if the driven against an end face of the piece Sauggreifer contour can not suck. A disadvantage of the proposed in the utility solution is that relatively stable gripping jaws with a relatively thick inner coating between juxtaposed cargo on the shelf must retract, so that increases to be observed between the lying on the shelf piece goods minimum distance.

Aus dem Stand der Technik ergibt sich, dass die Fachwelt davon ausgeht, dass ein Sauggreifer nur dann zur Umlagerung eines Stückguts eingesetzt werden kann, wenn das Stückgut dort, wo der Sauggreifer ansetzen soll, eine im wesentlichen ebene Stirnfläche aufweist.From the prior art it follows that the professional world assumes that a suction pad can only be used for the rearrangement of a piece goods when the cargo has where the suction pad to start, has a substantially flat end face.

Aufgabe der Erfindung ist es, die Einsatzmöglichkeiten des Sauggreifers zu erweitern und erhöhte Mindestabstände der Stückgüter zu vermeiden.The object of the invention is to expand the possible applications of the suction pad and to avoid increased minimum distances of the piece goods.

Diese Aufgabe wird erfindungsgemäß durch ein Verfahren mit den Merkmalen des Anspruchs 1 gelöst. Bei dem erfindungsgemä-ßen Verfahren zum Umlagern eines zylinderförmigen Stückguts in einem automatisierten Regallager mittels eines einen Saugkopf aufweisenden Sauggreifers eines Bediengeräts wird zunächst der Saugkopf an die gewölbte Mantelfläche des auf einer ersten Lagerfläche stehenden Stückguts herangeführt, wobei der Saugstrom bereits erzeugt wird, bevor der Saugkopf auf die Mantelfläche trifft. Überraschenderweise hat sich gezeigt, dass bei einem derartigen Betrieb ein sicheres Ansaugen auch bei relativ stark gewölbten zylinderförmigen Mantelflächen möglich ist. Das Stückgut wird nach dem Ansaugen mittels des Sauggreifers auf einen Auflagetisch des Bediengeräts gezogen. Der Auflagetisch wird dann vor eine zweite Lagerfläche bewegt und das Stückgut wird mittels des Sauggreifers bei festgesaugtem Saugkopf von dem Auflagetisch auf die zweite Lagerfläche geschoben. Erst danach wird der Saugunterdruck im Saugkopf abgebaut und der Saugkopf mit dem Sauggreifer zurückgezogen. Somit wird beim Einlagern des Stückguts vom Auflagetisch des Bediengeräts auf die zweite Lagerfläche der Sauggreifer nicht lediglich als Schieber ohne aufgebauten Saugdruck benutzt, wie dies im Stand der Technik üblich war. Es hat sich gezeigt, dass mit der erfindungsgemäßen Vorgehensweise ein sicheres Umlagern zylinderförmiger Stückgüter, insbesondere von Flaschen mit Arzneimitteln, möglich ist.This object is achieved by a method having the features of claim 1. In the inventive Shen Method for relocating a cylindrical piece goods in an automated rack warehouse by means of a vacuum cleaner having a suction gripper of an operating device, the suction head is first brought to the curved surface of standing on a first storage unit cargo, wherein the suction flow is already generated before the suction meets the lateral surface. Surprisingly, it has been found that in such an operation a secure suction is possible even with relatively strongly curved cylindrical lateral surfaces. The piece goods are drawn after suction by means of the suction pad on a support table of the HMI device. The support table is then moved in front of a second bearing surface and the cargo is pushed by means of the suction pad with festgesaugtem suction head of the support table on the second bearing surface. Only then the suction vacuum in the suction head is reduced and the suction head is withdrawn with the suction pad. Thus, when storing the piece goods from the support table of the HMI device on the second bearing surface of the suction pads not only used as a slide without built-suction pressure, as was customary in the prior art. It has been shown that with the procedure according to the invention a safe transferring of cylindrical piece goods, in particular of bottles with medicaments, is possible.

Bei einer vorteilhaften Weiterbildung des erfindungsgemä-ßen Verfahrens wird der Saugunterdruck im Saugkopf schneller abgebaut, indem ein zum Saugstrom entgegengesetzter Blasstrom erzeugt wird. Dieses Umschalten von Saugstrom auf Blasstrom erfolgt, sobald sich das zylinderförmige Stückgut an der gewünschten Stelle auf der zweiten Lagerfläche befindet. Wird beispielsweise zum Erzeugen des Saugdrucks eine Flügelrad-Pumpe verwendet, so kann das Umschalten durch eine Umsteuerung des Antriebsmotors realisiert werden. Die Stromumschaltung kann auch bei gleichförmig betriebener Pumpe mit Hilfe einer Ventilsteuerung vorgenommen werden.In an advantageous development of the method according to the invention, the suction vacuum in the suction head is reduced more rapidly by generating a blowing flow which is opposite to the suction flow. This switching from suction flow to blowing flow takes place as soon as the cylindrical piece goods are located at the desired location on the second bearing surface. If, for example, an impeller pump is used to generate the suction pressure, the switching can be realized by reversing the drive motor. The current switching can be made even with a uniformly operated pump by means of a valve control.

Im folgenden wird die Erfindung anhand eines in den Zeichnungen dargestellten Ausführungsbeispiels näher beschrieben. In den Zeichnungen zeigen:

  • Figur 1 eine schematische Darstellung einer ersten Bewegungsphase der Annäherung eines Sauggreifers eines Bediengeräts an ein auf einem Regalboden gelagertes Stückgut und
  • Figur 2 eine zweite Bewegungsphase, bei der der Sauggreifer an dem Stückgut festgesaugt ist.
In the following the invention will be described with reference to an embodiment shown in the drawings. In the drawings show:
  • FIG. 1 a schematic representation of a first phase of movement of the approach of a suction pad of an HMI device to a stored on a shelf cargo and
  • FIG. 2 a second phase of movement in which the suction pad is firmly sucked on the cargo.

Figur 1 zeigt eine schematische Draufsicht auf einen Abschnitt 1 eines Regalbodens, auf dem ein Stückgut 2 mit einer zylindrischen Mantelfläche, beispielsweise eine ein Arzneimittel enthaltende Flasche, gelagert ist. Auf den in Figur 1 nicht gezeigten Abschnitten des Regalbodens 1 können sich eine Vielzahl weiter quaderförmiger Arzneimittelpackungen oder zylindrischer Flaschen befinden. Über und/oder unter dem Regalboden können sich weitere parallele Regalböden befinden. FIG. 1 shows a schematic plan view of a portion 1 of a shelf on which a cargo 2 with a cylindrical surface, for example, a drug-containing bottle is stored. On the in FIG. 1 not shown portions of the shelf 1 may be a plurality of cuboid drug packages or cylindrical bottles. Over and / or under the shelf may be more parallel shelves.

Zur Entnahme der Stückgüter von den Regalböden bzw. zur Einlagerung der Stückgüter auf die Regalböden wird ein Bediengerät verwendet, welches vor den Regalböden vertikal und horizontal verfahrbar ist und von einem Computer gesteuert wird. Der das Bediengerät steuernde Computer verfügt über Informationen über Art und Lagerorte der in dem Regallager einliegenden Stückgüter.To remove the piece goods from the shelves or for storage of piece goods on the shelves an operating device is used, which is vertically and horizontally movable in front of the shelves and is controlled by a computer. The computer controlling the operating device has information about the type and storage locations of the piece goods in the shelf storage.

Figur 1 zeigt schematisch Teile eines vor dem Regalboden 1 positionierten Bediengeräts, nämlich einen Sauggreifer 3 mit einem Saugkopf 4 und einen Teil eines Auflagetischs 5. Der Sauggreifer 3 ist horizontal quer zu dem Regalboden 1 verfahrbar, so dass der Saugkopf 4 an eine Stirnseite 6 des Stückguts 2 herangeführt werden kann. Der Sauggreifer 3 bewegt sich in Richtung des Pfeils 7 auf die Stirnseite 6 des Stückguts 2 zu. Noch bevor der Saugkopf 4 auf die Stirnseite 6 trifft, wird in dem Sauggreifer ein Saugstrom erzeugt, indem beispielsweise eine Pumpe eingeschaltet oder ein Ventil einer Zuleitung zu einer Saugpumpe geöffnet wird. FIG. 1 schematically shows parts of a positioned in front of the shelf 1 HMI device, namely a suction pad 3 with a suction head 4 and a part of a support table 5. The suction pad 3 is horizontally movable transversely to the shelf 1, so that the suction head 4 to an end face 6 of the piece 2 can be introduced. The suction pad 3 moves in the direction of the arrow 7 on the end face 6 of the piece 2 to. Even before the suction head 4 strikes the end face 6, a suction flow is generated in the suction gripper, for example, by turning on a pump or opening a valve of a supply line to a suction pump.

Noch bevor der Sauggreifer 3 auf das Stückgut 2 zubewegt wird, wird der Auflagetisch des Bediengeräts derart vor dem Regalboden 1 positioniert, dass die Oberfläche des Auflagetischs 5 mit der Oberfläche des Regalbodens 1 fluchtet oder geringfügig tiefer positioniert ist. Eine Vorderkante 8 des Auflagetischs 5 wird in einem möglichst geringen Abstand vor einer Vorderkante 9 des Regalbodens 1 positioniert.Even before the suction gripper 3 is moved toward the piece goods 2, the support table of the operating device is positioned in front of the shelf 1, that the surface of the support table 5 is flush with the surface of the shelf 1 or slightly lower positioned. A front edge 8 of the Supporting table 5 is positioned at the smallest possible distance in front of a front edge 9 of the shelf 1.

Figur 2 zeigt eine nachfolgende Bewegungsphase, bei der der Saugkopf 4 bereits an der Stirnseite 6 des Stückguts 2 festgesaugt und entsprechend der Oberflächenkontur der Stirnseite 6 verformt ist. Zu diesem Zweck weist der Saugkopf 4 einen elastisch verformbaren Ring auf, der beispielsweise aus einem elastischen Kunststoffmaterial gefertigt ist und der die Ansaugöffnung umgibt. Die Dicke des elastisch verformbaren Rings hängt von den zu erwartenden Krümmungen der Mantelflächen des Stückguts 2 ab. Je stärker die zu erwartende Krümmung ist, desto dicker sollte der elastisch verformbare Ring ausgebildet sein. Das Anlegen des Saugstroms vor dem Auftreffen des Saugkopfs 4 auf die Stirnseite 6 unterstützt das Anformen des elastischen Rings des Saugkopfs 4 an die Oberfläche des Stückguts 2. Die Vorwärtsbewegung entsprechend dem Pfeil 7 wird unterbrochen, sobald ein Ansaugen des Stückguts 2 aufgrund eines Druckabfalls in dem Sauggreifer 3 festgestellt worden ist. Dadurch wird vermieden, dass das Stückgut 2 auf dem Regalboden 1 in Richtung der Regalrückseite weitergeschoben wird. FIG. 2 shows a subsequent movement phase, in which the suction head 4 is already firmly sucked on the end face 6 of the piece goods 2 and deformed according to the surface contour of the end face 6. For this purpose, the suction head 4 an elastically deformable ring, which is made for example of a resilient plastic material and surrounding the suction port. The thickness of the elastically deformable ring depends on the expected curvatures of the lateral surfaces of the piece goods 2. The stronger the expected curvature, the thicker the elastically deformable ring should be formed. The application of the suction flow before the impact of the suction head 4 on the end face 6 supports the molding of the elastic ring of the suction head 4 to the surface of the piece 2. The forward movement according to the arrow 7 is interrupted as soon as an intake of the piece 2 due to a pressure drop in the Suction gripper 3 has been found. This avoids that the cargo 2 is pushed on the shelf 1 in the direction of the shelf back.

Nach dem Festsaugen wird das Stückgut 2 mittels des Sauggreifers 3 von dem Regalboden 1 auf den Auflagetisch 5 des Bediengeräts gezogen. Dann wird der Auflagetisch 5 zusammen mit dem Bediengerät vor eine zweite Lagerfläche, auf die das Stückgut umgelagert werden soll, bewegt. Während des Transports des Stückguts 2 auf dem Auflagetisch 5 kann das Stückgut zusätzlich durch seitliche Greifbacken festgehalten werden, die ebenfalls über dem Auflagetisch 5 montiert (aber in den Figuren 1 und 2 nicht dargestellt) sind. Sobald der Auflagetisch 5 des Bediengeräts vor der zweiten Lagerfläche positioniert ist, wobei die Oberfläche des Auflagetischs 5 mit der Oberfläche der zweite Lagerfläche fluchtet oder geringfügig höher als diese angeordnet ist, wird das Stückgut 2 (ggf. nach Freigabe der seitlichen Greifbacken) mittels des Sauggreifers 3 bei festgesaugtem Saugkopf 4 von dem Auflagetisch 5 auf die zweite Lagerfläche geschoben. Dann wird der Saugunterdruck im Saugkopf 4 abgebaut, indem ein zum Saugstrom entgegengesetzter Blasstrom erzeugt wird, und der Saugkopf 4 mit dem Sauggreifer 3 zurückgezogen.After the fixed eyes, the cargo 2 is pulled by means of the suction pad 3 of the shelf 1 on the support table 5 of the HMI device. Then, the support table 5 is moved together with the operating device in front of a second storage area to which the cargo is to be relocated. During the transport of the piece goods 2 on the support table 5, the cargo can be additionally held by lateral gripping jaws, which also mounted on the support table 5 (but in the Figures 1 and 2 not shown). Once the support table 5 of the HMI device is positioned in front of the second bearing surface, the surface of the support table 5 is flush with the surface of the second bearing surface or slightly higher than this, the piece goods 2 (possibly after release of the side gripping jaws) by means of the suction pad 3 pushed at Sauggesaugtem suction head 4 of the support table 5 on the second bearing surface. Then, the suction pressure in the suction head 4 is reduced by an opposite to the suction flow Blasstrom is generated, and the suction head 4 is withdrawn with the suction pad 3.

Anschließend kann das Bediengerät zu einem weiteren Stückgut verfahren und der gesamte Umlagerungsvorgang mit diesem wiederholt werden.Subsequently, the operating device can proceed to another piece goods and the entire transfer process can be repeated with this.

Claims (2)

  1. A method of relocating a cylindrical article (2) in an automated shelf store by means of a suction gripper (3), which includes a suction head (4), of a handling device, wherein:
    a) the suction head (4) is advanced towards the curved outer surface (6) of the article (2) standing on a first storage surface (1), whereby the suction flow is produced before the suction head (4) engages the outer surface (6),
    b) after connection to the suction gripper (3) by means of suction, the article (2) is pulled onto a support table (5) of the handling device,
    c) the support table (5) of the handling device is moved in front of a second storage surface,
    d) the article is pushed by means of the suction gripper, with the suction head firmly attached by suction, from the support table onto the second storage surface,
    e) the suction vacuum in the suction head is reduced and
    f) the suction head is withdrawn together with the suction gripper.
  2. A method as claimed in Claim 1, characterised in that the suction vacuum is reduced more rapidly in step e) by producing a blowing flow opposed to the suction flow.
EP07102741A 2007-02-20 2007-02-20 Method for relocating cylinder shaped goods in an automated high bay store using a gripper with a suction head Active EP1961678B1 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP07102741A EP1961678B1 (en) 2007-02-20 2007-02-20 Method for relocating cylinder shaped goods in an automated high bay store using a gripper with a suction head
ES07102741T ES2332540T3 (en) 2007-02-20 2007-02-20 PROCEDURE FOR THE COLLECTION OF A CYLINDRICAL ARTICLE IN A STORE OF AUTOMATED SHELVES THROUGH A CLAMP THAT PRESENTS A SUCTION HEAD.
AT07102741T ATE443679T1 (en) 2007-02-20 2007-02-20 METHOD FOR RELOCING A CYLINDER-SHAPED PIECE IN AN AUTOMATED SHELF STORAGE USING A GRIPPER HAVING A SUCTION HEAD
DE502007001574T DE502007001574D1 (en) 2007-02-20 2007-02-20 Method for relocating a cylindrical piece goods in an automated rack warehouse by means of a gripper having a suction head

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP07102741A EP1961678B1 (en) 2007-02-20 2007-02-20 Method for relocating cylinder shaped goods in an automated high bay store using a gripper with a suction head

Publications (2)

Publication Number Publication Date
EP1961678A1 EP1961678A1 (en) 2008-08-27
EP1961678B1 true EP1961678B1 (en) 2009-09-23

Family

ID=38236196

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07102741A Active EP1961678B1 (en) 2007-02-20 2007-02-20 Method for relocating cylinder shaped goods in an automated high bay store using a gripper with a suction head

Country Status (4)

Country Link
EP (1) EP1961678B1 (en)
AT (1) ATE443679T1 (en)
DE (1) DE502007001574D1 (en)
ES (1) ES2332540T3 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2568451A1 (en) 2011-09-12 2013-03-13 Automated-Stores Oy Means for conveying articles from a shelf of an automatic store or vending machine to a carriage and/or from the carriage to the shelf

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107020628A (en) * 2016-06-13 2017-08-08 广东顺德天太机器人技术有限公司 A kind of industrial robot

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19509951C2 (en) * 1995-03-18 1997-03-13 Rudolf M Dipl Ing Wagner Device for unsorted storage of goods or other objects
DE29904557U1 (en) * 1999-03-12 1999-08-05 Beils, Dirk Rolf, 56727 Mayen Suction pads for small items

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2568451A1 (en) 2011-09-12 2013-03-13 Automated-Stores Oy Means for conveying articles from a shelf of an automatic store or vending machine to a carriage and/or from the carriage to the shelf

Also Published As

Publication number Publication date
EP1961678A1 (en) 2008-08-27
ATE443679T1 (en) 2009-10-15
ES2332540T3 (en) 2010-02-08
DE502007001574D1 (en) 2009-11-05

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